RoboCup四腿组比赛中定位算法的实验比较

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蔡怡昕, 赵明国, 石宗英, 徐文立. RoboCup四腿组比赛中定位算法的实验比较[J]. 机器人, 2007, 29(2): 167-170.. CAI Yi-xin, ZHAO Ming-guo, SHI Zong-ying, XU Wen-li. An Experimental Comparison of Localization Methods in RoboCup Four-legged League. ROBOT, 2007, 29(2): 167-170..

摘要针对RoboCup四腿组比赛场地结构对称和特征不唯一的特点，在场地模型中对带数据校验的扩展卡尔曼滤波（EKF-V）、多假设定位（MHL）、蒙特卡洛定位（MCL）和自适应蒙特卡洛定位（A-MCL）四种算法的全局定位精度和对噪声的鲁棒性进行了仿真实验比较．实验结果表明，四种算法在噪声可估计的条件下都能达到较高的全局定位精度，而MCL和A-MCL对噪声有较高的鲁棒性，更适合应用于RoboCup四腿组比赛．

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关键词 ：定位, RoboCup, 卡尔曼滤波, 多假设定位, 蒙特卡洛定位

Abstract：For RoboCup four-legged league field with symmetrical structure and non-unique features,the global localization accuracy and robustness against noises of four localization methods,including Extended Kalman Filter with data Validation(EKF-V),Multiple Hypothesis Localization(MHL),Monte Carlo Localization(MCL) and Adaptive Monte Carlo Localization(A-MCL),are compared in a simulated field model.The experimental results show that all the algorithms achieve high accuracy when the noise can be estimated.However,MCL and A-MCL are preferable when applying to RoboCup four-legged league due to their robustness against noises.

Key words： localization RoboCup Kalman filter multiple hypothesis localization Monte Carlo localization

收稿日期: 2006-03-21

TP242

基金资助:国家自然科学基金资助项目（60474024）；清华大学教育基金资助项目（202025001）

作者简介: 蔡怡昕（1981- ），男，硕士生．研究领域：移动机器人定位，机器人足球．
赵明国（1972- ），男，博士，副研究员．研究领域：智能机器人，机器人足球．
石宗英（1969- ），女，博士，讲师．研究领域：机器人运动控制，仿人机器人．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2007/V29/I2/167

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